%Paul Ozog
%Control Prelab 3


%Problem 5:

w0 = 16;
zeta = 1;
tau = .0929;
K = 19.9;

Kp = (2*tau*zeta*w0 - 1)/K;
Ki = (w0^2 * tau) / K;

System = tf([K*Kp Ki*K], [tau (1+K*Kp) K*Ki]);

step(System)
